Systems and methods for underfloor storage and retrieval

ABSTRACT

Systems and methods for under-floor storage include a robotic retrieval system. The robotic retrieval system includes a robot disposed under an upper floor. The robot may retrieve and deposit objects in a space under the upper floor. A portal provides access to the space from above the upper floor. Objects are stored in locations within the space. The robot selectively locates and retrieves the objects.

TECHNICAL FIELD

The present specification relates to systems and methods for underfloorstorage and retrieval of objects and more particularly, to systems andmethods for controlling a robotic retrieval system to for underfloorstorage and retrieval of objects.

BACKGROUND

Facilities like houses and apartments have limited space for storage ofobjects. This may be particularly true in urban settings where size ofliving spaces may be especially limited. Traditionally, people haverented storage space outside of their living space. Often, people maystore objects vertically, such as in high and hard to reach places.Storing objects in high and hard to reach places may be inefficient andmay also present other challenges. For instance, many elderly personsmay be at serious risk of falling and suffering harm when reaching forobjects stored in high spaces. In other examples, people may utilizehooks or other tools to move objects stored in high spaces. Yet thesehooks may cause their own hazards.

Accordingly, there is a need for systems and methods for increasingstorage space. It is desirable to provide safe, efficient, and effectivesystems and methods for storage and retrieval of objects.

SUMMARY

Described herein is a system for under-floor storage. The system forunder-floor storage may include a portal comprising a platformconfigured to receive one or more objects, wherein the portaloperatively provides access to a space defined under an upper floor; arobotic retrieval system comprising a robot, wherein the robot includesan arm for grasping the one or more objects, and wherein the robot isconfigured to: retrieve the one or more objects from one or morelocations within the space; deposit the one or more objects in the oneor more locations within the space; in response to user input requestingstorage of a target object from the one or more objects, determine atarget location in which to deposit the target object; and store thetarget location and an identifier that identifies the target object inmemory. In examples, the robotic retrieval system further comprises atrack disposed under the upper floor, wherein the robot operativelytransverses the track to retrieve or deposit the one or more objects.The robot may include at least one rotating member or appendage, andwherein the at least one rotating member or appendage are operativelyconfigured to allow the robot to travel on a lower floor generallyparallel to the upper floor. The robot may include at least one imagecapturing device that operatively determines an identification of theone or more objects based on at least one of an image of the one or moreobjects or an identification token located on the one or more objects.The robotic retrieval system may determine whether to retrieve an objectfrom the one or more objects in response to a user request. The roboticretrieval system may determine whether to retrieve an object from theone or more objects in response to a triggering event. In anotherexample, the robotic retrieval system may determine the target locationin which to deposit the target object based at least in part ondimensions of the target object and dimensions of the target location.The robotic retrieval system may further determine the target locationin which to deposit the target object based further in part ondimensions of one or more pathways formed within the space. In anotheraspect, the robotic retrieval system may determine the target locationin which to deposit the target object based at least in part on afrequency of retrieval and storage of the target object and proximity ofthe target location to the portal. The robotic retrieval system mayinclude at least one display device that generates notificationsidentifying the one or more objects stored within the space. Further,the robotic retrieval system may include a charging station, and whereinthe robot includes a rechargeable battery that is operatively rechargedby the charging station.

Also described herein is a method comprising: receiving an object at aportal for storage under an upper floor; determining a target locationin a space defined below the upper floor in which to store the object;grasping, by a robotic retrieval system, the object from the portal; anddelivering the object to the target location in the space. The methodmay further comprise receiving user input requesting retrieval of theobject; and in response to the user input, retrieving the object fromthe target location. The method may further comprise detecting atriggering event; and in response to detecting the triggering event,retrieving the object from the target location. The triggering event maycomprise at least one of a weather parameter meeting a criteria, anevent, a holiday, or an alarm. The method may further comprisecalculating a probability of that a user will request retrieval of theobject based on a weighted model of a history associated with the user;and in response to the probability meeting a threshold probability,retrieving the object from the target location.

Further describes is a system for under-floor storage. The system mayinclude a portal comprising a platform configured to receive one or moreobjects, and wherein the platform operatively translates about an axisto raise at or above an upper floor or lower below the upper floor; arobotic retrieval system comprising a track disposed beneath the upperfloor, and a robot operatively connected to the track and configured totraverse the track to retrieve or deposit one or more objects within aspace below the upper floor, and wherein the robot includes an arm forgrasping and releasing the one or more objects in desired locations. Theportal may be operatively formed within a portion of the upper floorsuch that the portion of the upper floor is movable to allow the portalto translate about the axis. In another example, the portal may beoperatively formed within furniture. Further, the portal may beoperatively formed within a closet of a structure

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplaryin nature and not intended to limit the disclosure. The followingdetailed description of the illustrative embodiments can be understoodwhen read in conjunction with the following drawings, where likestructure is indicated with like reference numerals and in which:

FIG. 1 depicts an under-floor storage system according to one or moreembodiments described and illustrated herein;

FIG. 2 depicts an under-floor storage system without a track accordingto one or more embodiments described and illustrated herein;

FIG. 3 depicts an under-floor storage system including pathways throughsupport structures according to one or more embodiments described andillustrated herein;

FIG. 4 depicts a portal for an under-floor storage system according toone or more embodiments described and illustrated herein;

FIG. 5 depicts a portal included in furniture for an under-floor storagesystem according to one or more embodiments described and illustratedherein;

FIG. 6 depicts a method for an under-floor storage system according toone or more embodiments described and illustrated herein; and

FIG. 7 schematically illustrates an example computing system for anunder-floor storage system and method according to one or moreembodiments described and illustrated herein.

DETAILED DESCRIPTION

Embodiments of the present disclosure are directed to an under-floorstorage system that increases the storage space of a living space. Theunder-floor storage system may include a robotic retrieval system thatretrieves and returns objects stored in a space between a raised upperfloor and a lower floor. A track may be disposed within the spacebetween the upper floor and the lower floor. A robot may be secured tothe track and may be operable to move along the tack. Access to thespace may be provided by a portal.

In embodiments, a user's objects are stored at various locations withinthe space. The system keeps track of where the objects are locatedwithin the space. When a user wants a particular object, the user tellsthe robot (e.g., by voice command, by input into a computing device, andthe like) which object is needed. The robot navigates the space underthe upper floor on the track and locates the object, grasps the object,moves toward the portal, and positions the object on a platform thatraises the object so that it is accessible by the user. In someembodiments, the system also includes a lift that lifts the object fromthe platform so that the user does not need to bend down to pick theobject up. The user may program the system so that certain objects arepreemptively fetched on certain days or times of the year (e.g., coldweather objects are delivered at the start of winter). The system mayalso display what and where objects are located within the storagespace.

Referring now to FIG. 1, an under-floor storage system 100 isillustrated. The under-floor storage system 100 may include a roboticretrieval system 140 that may operatively retrieve or store objects froma space 120. The space 120 may be defined by an upper floor 122 and alower floor 124. Objects may be received at a portal within the upperfloor 122. It is noted that the upper floor 122 and the lower floor 124may include one or more materials, such as wood or wood composites,fabric (e.g., carpet, etc.) laminate, ceramic, metal, concrete, metal,glass, or other materials. For example, upper floor 122 may include asubfloor layer comprising a wood composite and a surface layercomprising a laminate tile. It is further noted that some embodimentsmay not utilize a lower floor 124, such as in constructions whereinsubflooring is exposed. For example, the ceiling of cellars in certainhomes may include exposed subfloors or rafters. In such instances, thelower floor 124 may not be present.

Within the space 120, there may be a plurality of support structuressuch as a plurality of joists 130, one or more girders 132, sill plates,bridging, or the like. Each joist 130 may be generally parallel withother joists. Likewise, each of the one or more girders 132 may begenerally parallel with others of the one or more girders 132. Theplurality of joists 130 may be generally perpendicular with the one ormore girders 132. It is noted that the arrangement and construction ofthe support structures may vary, such as may be required byjurisdictional building codes. It is further noted that embodiments mayutilize existing or newly constructed facilities (e.g., homes, apartmentbuildings, etc.). As such, embodiments may be adapted to variousarrangements and constructions of the support structures.

In embodiments, the robotic retrieval system 140 may include a robot 142that may travel on a track 146. The robot 142 may include an arm 144.The arm 144 may include at least one grasping appendage, such as a hook,clasp, claw, gripping portion, suction device, magnet, or the like. Forinstance, the arm 144 may include a suction device to apply suction toan object or bin and manipulate the position of the object or bin. Inanother example, the arm 144 may include a claw having one or morefingers. The claw may be openable and closeable to release or grasp anobject as desired. According to another aspect, the arm 144 may betranslatable about an axis, such as a telescoping, or otherwise movingtowards or away from an object.

It is further noted that robot 142 may comprise or otherwise becommunicatively coupled with a computing device that may comprisehardware and/or software (e.g., program threads, processes, computerprocessors, non-transitory memory devices, etc.). In some examples, therobot 142 may communicatively coupled with an external computing device,such as a personal computing device, server computing device, mobilecomputing device, smart phone, tablet computer, wearable device, set topbox, or the like. It is noted that computing device may perform some orall functions described herein. Additionally, under-floor storage system100 may include a plurality of computers, servers, databases, or otherdevices communicatively coupled together. Computing devices may comprisea non-transitory computer-readable medium and may communicate vianetworks embodied as hardware, software, and/or firmware, according toembodiments shown and described herein. In embodiments, the computingdevices may include hardware, software, and/or firmware. In at leastsome embodiments, the computing devices may be configured as a specialpurpose computer designed specifically for performing the functionalitydescribed herein.

It is noted that the robot 142 may include one or more motors, which maybe controlled by a processor. For instance, a motor may drive the robot142 about the track 146 through rotating members (e.g., wheels,sprockets, etc.). The motor may be disposed within the robot 142 or maybe located external to the robot 142 while the robot 142 is pulled orpushed through cables, chains, belts, or the like. The track 146 maycomprise metal, wood, plastic, or other material attached to a joist130. In an aspect, the track 146 may be C-shaped or otherwise shaped toallow the robot 142 to traverse the track 146. In embodiments, the robot142 may be powered by a power source (e.g., power mains, a battery, orthe like). The robot 142 may include a solenoid that may be powered bythe power source. Rotation of the solenoid may be monitored to determinethe location of the robot 142, distance traveled, or the like. It isnoted that the robot 142 may include other devices to identify thelocation of the robot 142, distanced traveled, or the like. For instancethe robot 142 may include an accelerometer or other motion sensingdevice that may allow the robot 142 to track its movement and identifyits location. In at least some embodiments, the track 146 may includeposition indicators, such as wireless tags, indicia or identificationtokens (e.g., 2D barcodes, 3D barcodes, etc.), physical formations, orthe like that may be read by the robot 142 to indicate a position of therobot 142. It is further noted that the track 146 may provide power tothe robot 142 and/or provide an access line to power for other portionsof a structure, such as to power outlets positioned above the upperfloor 122.

In at least some embodiments, the robot 142 may include sensors, imagecapturing devices, wireless signal transceivers/receivers, or the like.The robot 142 may identify objects based on image recognition, scanningof a bar code, detection of wireless signals (e.g., near fieldcorrespondence or “NFC” device, RFID device, or other devices), or thelike. In an example, objects 150, 152, 154, 156 or a bin 160, 162, 164,166 containing an object may be equipped with a wireless tag attached tothe object. The robot 142 may utilize a wireless receiver to receive asignal elicited from the wireless tag. The signal may contain anidentifier token or “ID” that may be associated to one of objects 150,152, 154, 156 or bins 160, 162, 164, 166.

Objects 150, 152, 154, 156 may include any object that is appropriatelysized to fit within the space 120. It is noted that the number andplacement of objects may vary and that four objects are shown generallyequally spaced apart for simplicity of explanation. As described herein,objects 150, 152, 154, 156 may be positioned on the lower floor 124, inor on bins 160, 162, 164, 166, placed on hooks, or the like. Bins 160,162, 164, 166 may include containers, platforms, baskets, tubes, boxes,or other surfaces that may receive objects. It is noted that bins 160,162, 164, 166 may include grasping surfaces, magnets, or the like toenable the arm 144 to grasp and release the bins 160, 162, 164, 166.Depending on the size of the bins 160, 162, 164, 166 and the size of thespace 120, embodiments may include an appropriate number of bins.

In some embodiments, the robot 142 may store coordinates that map to thelower floor 124. For instance, the robot 142 may include a memory devicethat may store coordinate information, such as in a Cartesian plane. Therobot 142 may utilize the coordinates to track, locate, or placeobjects. For instance, when the robot 142 receives an object to beplaced in the space 120, the robot 142 may identify a coordinatelocation to place the object. The coordinate location may be specifiedby a user, selected based on usage and time of retrieval (e.g., objectsused more often may be located such that the retrieval time is lower),selected based on a first in-first out or last in-last out process, orthe like. The robot 142 may store the selected location in the memorydevice, transmit the location to a remote memory device (e.g., a userdevice, server, etc.), or the like. It is noted, that robot 142 mayutilize other appropriate methodologies to track, locate, or placeobjects, such as image recognition, wireless identification, or thelike.

A user may control or otherwise provide instructions to the robot 142.The instructions may cause the robot 142 to store, retrieve, mover, orotherwise interact with objects. In some examples, the instructions mayallow a user to manually control the robot 142. The user may utilize acontrol panel or a user device (e.g., smart phone, tablet computer,laptop computer, desktop computer, digital home assistant with voicecontrol operation, wearable device, etc.) to interface with the robot142 and transmit communications to and from the robot 142. In examples,the communications may be wirelessly transmitted or transmitted via awired connection.

In embodiments, a user may provide input to a user device to identify anobject to be stored. For instance, the user may identify an object as“rain coat.” The user device may instruct the robot 142 to retrieve thedevice through a portal. The portal may include a door formed in or onthe upper floor 122, a chute (e.g., lazy waiter), or the like. In someexamples, the portal may be located within a cabinet, wall, closet,furniture, or the like. The user may place the object in or on theportal and the object may be retrieved by the robot 142. In someexamples, the object may be placed in a bin that is then retrieved bythe robot 142. As another example, the object or bin may be lowered intothe space 120 and the robot 142 may then retrieve the object or bin.Once the robot 142 retrieves the object or bin, the robot 142 may carrythe object or bin to a desired location and may deposit the object orbin in the desired location. The robot 142 may confirm the placement ofthe object or bin. In some embodiments, the robot 142 may include animage capturing device to capture an image of the object or bin andtransmit the image to the user, such as through the user device.

The robot 142 may similarly retrieve objects or bins stored within thespace 120. For instance, the user may identify an object or bin to beretrieved. The robot 142 may navigate to the object or bin, and retrievethe object or bin. The robot 142 may then deliver the object or bin tothe user, such as through a portal. In some instances, the robot 142 mayre-order or re-locate objects or bins in the space 120, such as based ona user command or based on a predictive algorithm.

Additionally or alternative, the robot 142 may retrieve objects, reorderobjects, or perform other tasks based on a schedule, triggering events,machine learning or artificial intelligence, and the like. In anexample, a user may define a schedule in which the robot 142 retrievesstored objects. The user may desire to store an object at the end of awork week and retrieve the object at the start of the work week. Forinstance, the object may comprise a brief case. The user may instructthe robot 142 to store the brief case every Friday. The user mayadditionally set a schedule so that the robot 142 retrieves the briefcase automatically on every Monday. Thus, the user's brief case may bedelivered to a portal per the schedule without the user having to issuea command as they prepare for work.

In some embodiments, the robot 142 may proactively retrieve objectsbased on triggering events, machine learning, predictive algorithms, orthe like. For instance, the robot 142 may monitor for triggering eventsand in response to a triggering event, the robot 142 may retrieve one ormore objects. A triggering event may be a weather parameter (e.g.,temperature threshold, precipitation forecast, allergen count, airquality metric, etc.), event, holiday, an alarm (e.g., smoke detector,gas detector, doorbell, etc.), or the like. As an example, the robot 142may identify a weather forecast calls for rain with a certain degree ofprobability, the robot 142 may retrieve rain gear from the space 120without being prompted by the user.

In other examples, the robot 142 may identify patterns of user behaviorand predict the likelihood that a user desires a stored object at agiven time. The robot 142 may utilize deep learning (recurring neuralnetworks, convolution engines, or other). For instance, embodiments mayutilize artificial intelligence, statistical models, or other processesand/or algorithms. As an example, classifiers may be mapped to anattribute vector to a confidence that the attribute belongs to a classor the like. An input attribute vector, x=(x1, x2, x3, x4, xn) may bemapped to f(x)=confidence(class). Such classification can employ aprobabilistic and/or statistical based analysis (e.g., factoring intothe user's history of object retrieval, global histories for other usersretrieving similar object s, external parameters, or the like) to inferan action that a user desires to be retrieve, store, move, or otherwiseutilize an object. In various embodiments, systems and methods mayutilize other directed and undirected model classification approachesinclude, e.g., naïve Bayes, Bayesian networks, decision trees, neuralnetworks, fuzzy logic models, and probabilistic classification modelsproviding different patterns of independence. Classification may alsoinclude statistical regression that is utilized to develop weightedmodels. In examples, the robot 142 may weigh a user's history andweather greater than other factors for certain items. In other examples,the robot 142 may weigh different (non-weather) parameters more heavily.It is noted that factors may be given weights based on a type oridentification of an object (e.g., electronic device, camera, clothing,keepsakes, decorations, etc.).

The under-floor storage system 100 may allow a user to visualizeobjects, object location, open or available space in the space 120, orthe like. Visualization may include rending images, text, capturedimages, or the like of objects on a display device of a user device. Inother embodiments, the upper floor 122 may include display devices,lights, or the like to indicate contents.

Turning now to FIG. 2, an example under-floor storage system 200 withouta track is illustrated. The under-floor storage system 200 may include arobotic retrieval system 240 that may operatively retrieve or storeobjects from a space 220. The space 220 may be defined by an upper floor222 and a lower floor 224. Objects may be received at a portal withinthe upper floor 222. It is noted that like named components of FIG. 2and FIG. 1 may comprise similar aspects. For instance, upper floor 222and lower floor 224 may be similar or the same.

The robotic retrieval system 240 may include a robot 242 that maycomprise an arm, similar to that of robot 142. The robot 242 maycomprise a motor that may allow the robot 242 to travel on rotatingmembers (e.g., wheels), appendages, or the like. In an aspect, the robot242 may not need to utilize a track. As such, the robot 242 may freelynavigate or travel within space 220. This may allow the robot to beflexible where structures (e.g., joists, headboards, etc.) may createnon-linear paths, or may otherwise make a tracked-system difficult toutilize or install. In some embodiments, the robot 242 may include apower source, such as a rechargeable battery. The robot 242 may returnto a charging station 248 when not in use. This may allow the robot 242to move in the space 220 without encumbrance by wires.

FIG. 3 depicts an under-floor storage system 300 including pathwaysthrough support structures. The under-floor storage system 300 mayinclude a robotic retrieval system 340 that may operatively retrieve orstore objects from a space 320. The space 320 may be defined by an upperfloor 322 and a lower floor 324. Objects may be received at a portal360. It is noted that like named components of FIG. 3 and the otherfigures may comprise similar aspects. For instance, robot 342 maycomprise similar or different aspects as robot 142 and robot 242. Therobotic retrieval system 340 may include a robot 342 that may comprisean arm, similar to that of robot 142. The robot 342 may comprise a motorthat may allow the robot 342 to travel on rotating members (e.g.,wheels), appendages, or the like.

A plurality of support structures such as a joists 330 and girders 332,sill plates, bridging, or the like. The joists 330 and girders 332 mayintersect and divide the space 320. In embodiments, pathways 334 may beprovided in or through the joists 330 and girders 332. The pathways 334may comprise cutouts in the joists 330 and girders 332. The cutouts maycomprise areas where some or all of the joists 330 and girders 332 areremoved. In some embodiments, the cutouts may be u-shaped or n-shaped.It is noted that the cutouts may be reinforced with additional material,posts, or the like. As described herein, the pathways 334 may vary insize and shape to allow the robot 342 to pass through the pathways 334while complying with building codes and not altering the structuralintegrity of a structure.

The robot 342 may navigate to any accessible location within the space320 to deposit or retrieve objects. In examples, the under-floor storagesystem 300 may determine where to deposit an object based at least inpart on determining the dimensions of the object (e.g., height, width,length, weight, etc. For instance, the robot 342 may determine whetheran object will fit within one or more of the pathways 334 or fit withina particular location in the space 320. In some examples, the dimensionsof objects, pathways 334 or the space 320 may be identified by a user.In other examples, the under-floor storage system 300 may determinedimensions through sensors, image recognition, trial and error, or thelike.

FIG. 4 depicts an exemplary portal 460 for an under-floor storagesystem. The portal 460 may operatively receive an object and transportthe object to or from an underfloor space (e.g., space 120, 220, 320,etc.). The portal 460 may comprise a lifting mechanism 462 and aplatform 464. In embodiments, the lifting mechanism 462 may comprisevarious appropriate constructions, such as telescoping poles, chains,pulleys, a scissor lift, or the like. The lifting mechanism 462 may bepowered by a motor and/or by manual power (e.g., user power). In someembodiments, a manual crank or other actuator may be provided to serveas backup in the event of a power failure.

In embodiments, a user may call or request the portal 460 to open orotherwise prepare to receive an object. The portal 460 may raise aportion 428 of the upper floor 422. As the portion 428 is raised, theplatform 464 may be raised. The upper floor 422 may be operativelyconnected to the platform 464 via support columns or the like. The usermay then place an object on the platform. Once the object is placed, theuser may instruct the portal 460 to lower the platform 464. In someembodiments, the portal 460 may detect the presence of an object and maylower the platform 464 without requiring user instruction. For instance,the portal 460 may include weight sensors, proximity sensors, or thelike that may detect the presence of the object.

It is noted that the portal 460 may comprise other or differentconstructions. For instance, the portion 428 of the upper floor 422 maybe hingedly secured to other portions of the upper floor 422. One ormore hinges may allow the portion 428 to open upwards, downwards, or thelike. In other examples, the portion 428 of the upper floor 422 may beretractable underneath the upper floor 422. It is further noted that twoor more portals 460 may be utilized by an under-floor storage system.

Once an object is lowered via the platform 464, a robot (e.g., robot142, 242, 342, etc.) may grasp the object and deliver the object to aspecified location as described herein. In some embodiments, the objectmay be disposed within a bin and the robot may grasp the bin and deliverthe bin to a location. Likewise, the robot may retrieve an object andplace it on the platform 464. The platform 464 may be raised to deliverthe object to a user.

According to embodiments, the portal 460 may include security monitoringcomponents that may determine whether to disable opening the portal 460.In examples, the portal 460 may include proximity sensors, imagecapturing devices, weight sensors (e.g., scales), infrared sensors, orthe like. If an object is detected on the portion 428 or within athreshold distance of the portion 428 while the portion 428 is flushwith the upper floor (e.g., in a resting position such that the space420 is not accessible), the portal 460 may be disabled from opening. Forinstance, if a user is standing on the portion 428 and attempts to openthe portal 460 to deposit or retrieve an object, the portal 460 maydisable opening. In some examples, an under-floor storage system maygenerate an alert to a user as a visual alert, audible alert, or atactile alert. For instance, a system may send an alert to a user deviceto vibrate, display a warning, produce an audible signal, or the like.In some embodiments, the portion 428 may include one or more audiodevices (e.g., speakers) or optical devices (e.g., display screen,lights, etc.). In some embodiments, the portal 460 may detect biologicallife placed thereon and may disable movement in response to detectingbiological life. In examples, a child or a pet may be disposed on theplatform. The portal 460 may include sensors to detect movement, detecttemperature (e.g., body temperature), detect images (e.g., recognizeanimals), or the like. This may prevent children from playing with theportal 460 or from accidents that may cause harm to humans or animals.

FIG. 5 illustrates another exemplary portal 560 included in orcomprising furniture. The portal 560 may include a cabinet or furniture502. For instance, the furniture 502 may comprise a storage cabinet,entertainment center, kitchen cabinet, closet, or the like. Thefurniture 502 may include an outer surface 504 that may appear to beordinary furniture, may function as ordinary furniture, or may be anexisting piece of furniture adapted to accommodate the portal 560. It isnoted that the portal 560 may function similar to that of FIG. 4.

In view of the subject matter described herein, methods that may berelated to various embodiments may be better appreciated with referenceto the flowcharts of FIG. 6. While the methods are shown and describedas a series of blocks, it is noted that associated methods or processesare not limited by the order of the blocks. It is further noted thatsome blocks and corresponding actions may occur in different orders orconcurrently with other blocks. Moreover, different blocks or actionsmay be utilized to implement the methods described hereinafter. Variousactions may be completed by one or more of users, mechanical machines,automated assembly machines (e.g., including one or more processors orcomputing devices), or the like.

FIG. 6 depicts an example flowchart of non-limiting method 600associated with under-floor storage systems and methods for storingitems under a floor, according to various aspects of the subjectdisclosure. As an example, method 600 may store objects in a targetlocation under a floor and may retrieve objects from the targetlocation.

At 602, an object for storage is received in a portal. The object may beappropriately sized to fit within a space under an upper floor. Inembodiments, receiving an object may include receiving a physicalobject, receiving input from a user identifying the object, utilizingsensors to detect the object or parameters of the object (e.g., weight,dimensions, identity, etc.).

At 604, a target location in a space defined below an upper floor isdetermined in which to store the object. Determining the target locationin the space may comprise identifying available locations, determiningin which locations the object will fit, and identifying a location as atarget location. In some embodiments, the system identifies a locationas the target location based on proximity to a portal and frequency ofretrieval and storage of the object. For instance, the method 600 maydetermine a target location closest to the portal for objects retrievedand stored more frequently than other objects. In some embodiments, arobotic retrieval system may reorder or relocate stored objects to makeroom for the object to be stored. For instance, if the only locationthat may receive the object is already utilized, the method 600 mayrelocate stored objects to clear the location. In at least someembodiments, the method 600 may relocate objects during non-activeperiods (e.g., when the user is not storing or retrieving objects). Thismay allow the method 600 to store an object and later increase spaceutilization in non-active periods. Relocating objects during non-activeperiods may reduce the wait time for a user during storage or retrievalof objects.

At 606, the method 600 may include grasping the object and deliveringthe object to the target location. In embodiments, the portal maydeliver the object to a robot or a robot may otherwise grasp an objectfrom the portal. The robot may then deliver the object to the targetlocation as described herein. It is noted that the object may be withina bin.

At 608, the method 600 may include determining to retrieve the objectfrom the target location based at least in part on at least one of userinput, a triggering event, or a probability that the user will requestthe object. The user input may be received from a computing device,voice command, or the like.

At 610, the method 600 may include grasping the object from the targetlocation and delivering the object to the portal. The portal may thendeliver the object to the user.

FIG. 7 depicts an example computing system 700 for performing thefunctionalities as described herein. In some embodiments, the computingsystem 700 may include an under-floor storage system (e.g., 100, 200,300, etc.) comprising a computing device 730. The example computingdevice 730 of the computing system 700 includes one or more processors702, a communication path 704, one or more memory devices 706, one ormore sensors 710, network interface hardware 712, and a data storagedevice 714, the details of which will be set forth in the followingparagraphs. It should be understood that the computing system 700 ofFIG. 7 is provided for illustrative purposes only, and that othercomputing systems comprising more, fewer, or different components may beutilized. It is further noted that components of the computing system700 may be comprised within a single device or distributed amongdevices. For instance, portions of computing device 730 may residewithin a robot, robotic retrieval system, user computing device, or thelike.

Each of the one or more processors 702 may be any device capable ofexecuting computer readable and executable instructions. Accordingly,each of the one or more processors 702 may be a controller, anintegrated circuit, a microchip, a computer, or any other computingdevice. The one or more processors 702 are coupled to a communicationpath 704 that provides signal interconnectivity between various modulesof the computing system 700. Accordingly, the communication path 704 maycommunicatively couple any number of processors 702 with one another,and allow the modules coupled to the communication path 704 to operatein a distributed computing environment. Specifically, each of themodules may operate as a node that may send and/or receive data. As usedherein, the term “communicatively coupled” means that coupled componentsare capable of exchanging data signals with one another such as, forexample, electrical signals via conductive medium, electromagneticsignals via air, optical signals via optical waveguides, and the like.

Accordingly, the communication path 704 may be formed from any mediumthat is capable of transmitting a signal such as, for example,conductive wires, conductive traces, optical waveguides, or the like. Insome embodiments, the communication path 704 may facilitate thetransmission of wireless signals, such as WiFi, Bluetooth®, Near FieldCommunication (NFC) and the like. Moreover, the communication path 704may be formed from a combination of mediums capable of transmittingsignals. In one embodiment, the communication path 704 comprises acombination of conductive traces, conductive wires, connectors, andbuses that cooperate to permit the transmission of electrical datasignals to components such as processors, memories, sensors, inputdevices, output devices, and communication devices. Accordingly, thecommunication path 704 may comprise a vehicle bus, such as for example aLIN bus, a CAN bus, a VAN bus, and the like. Additionally, it is notedthat the term “signal” means a waveform (e.g., electrical, optical,magnetic, mechanical or electromagnetic), such as DC, AC,sinusoidal-wave, triangular-wave, square-wave, vibration, and the like,capable of traveling through a medium.

The computing system 700 includes one or more memory devices 706 coupledto the communication path 704. The one or more memory devices 706 maycomprise RAM, ROM, flash memories, hard drives, or any device capable ofstoring computer readable and executable instructions such that thecomputer readable and executable instructions can be accessed by the oneor more processors 702. The computer readable and executableinstructions may comprise logic or algorithm(s) written in anyprogramming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or5GL) such as, for example, machine language that may be directlyexecuted by the processor, or assembly language, object-orientedprogramming (OOP), scripting languages, microcode, etc., that may becompiled or assembled into computer readable and executable instructionsand stored on the one or more memory modules 406. Alternatively, thecomputer readable and executable instructions may be written in ahardware description language (HDL), such as logic implemented viaeither a field-programmable gate array (FPGA) configuration or anapplication-specific integrated circuit (ASIC), or their equivalents.Accordingly, the methods described herein may be implemented in anyconventional computer programming language, as pre-programmed hardwareelements, or as a combination of hardware and software components.

The one or more memory devices 706 may be configured as volatile and/ornonvolatile memory and, as such, may include random access memory(including SRAM, DRAM, and/or other types of RAM), flash memory, securedigital (SD) memory, registers, compact discs (CD), digital versatilediscs (DVD), and/or other types of non-transitory computer-readablemediums. The one or more memory devices 706 include logic in the form ofcomputer readable instructions that perform the functionalitiesdescribed herein. The one or more memory devices 706 may be configuredto store operating logic 742 and storage logic 744 (each of which may beembodied as a computer program (i.e., computer readable instructions),firmware, or hardware, as an example). The operating logic 742 mayinclude an operating system and/or other software for managingcomponents of the computing device 730. In another aspect, the storagelogic 744 may reside in the memory devices 706 and may be configured tofacilitate storage, retrieval, or management of objects stored under afloor. The storage logic 744 may be configured to instruct a roboticretrieval system to retrieve objects in response to user input, inresponse to a triggering event, predictively, or the like. The storagelogic 744 may be configured to provide other aspects disclosed herein.

The data storage device 714, which may generally be a storage medium,may contain one or more data repositories for storing data that isreceived and/or generated, and may be any physical storage medium,including, but not limited to, a hard disk drive (HDD), memory,removable storage, and/or the like. While the data storage device 714 isdepicted as a local device, it should be understood that the datastorage device 714 may be a remote storage device, such as, for example,a server computing device or the like. In some embodiments, the datastorage device stores map information, such as the high-definition mapdata described above. It should be understood that the data storagedevice is not provided in some embodiments.

Still referring to FIG. 7, the computing system 700 may comprise networkinterface hardware 712 for communicatively coupling the computing system700 to a remote computing device 720, such as, without limitation, anunder floor storage system or robotic retrieval system and/or a remoteserver. The network interface hardware 712 can be communicativelycoupled to the communication path 704 and can be any device capable oftransmitting and/or receiving data via a network 740. Accordingly, thenetwork interface hardware 712 can include a communication transceiverfor sending and/or receiving wireless communications. For example, thenetwork interface hardware 712 may include an antenna, a modem, LANport, Wi-Fi card, WiMax card, mobile communications hardware, near-fieldcommunication hardware, satellite communication hardware and/or anywired or wireless hardware for communicating with other networks and/ordevices. In one embodiment, the network interface hardware 712 includeshardware configured to operate in accordance with the Bluetooth®wireless communication protocol.

It should now be understood that embodiments of the present disclosureare directed to systems and methods for controlling a vehicle withrespect to an intersection to avoid a zone of interest, such as adilemma zone or an optional zone. Embodiments predict a zone of interestin advance of the vehicle arriving at the intersection and control thevelocity of the vehicle when the vehicle is predicted to be within thezone of interest. Thus, drivers and autonomous vehicles will avoid adilemma zone situation where the vehicle cannot proceed through theintersection before the traffic light turns red nor stop at the stopline, and avoid an optional zone where a driver may hesitate in decidingwhether to drive through the intersection or stop at the stop line.

It is noted that the terms “substantially” and “about” may be utilizedherein to represent the inherent degree of uncertainty that may beattributed to any quantitative comparison, value, measurement, or otherrepresentation. These terms are also utilized herein to represent thedegree by which a quantitative representation may vary from a statedreference without resulting in a change in the basic function of thesubject matter at issue.

While particular embodiments have been illustrated and described herein,it should be understood that various other changes and modifications maybe made without departing from the spirit and scope of the claimedsubject matter. Moreover, although various aspects of the claimedsubject matter have been described herein, such aspects need not beutilized in combination. It is therefore intended that the appendedclaims cover all such changes and modifications that are within thescope of the claimed subject matter.

1. A system for under-floor storage, comprising: a portal comprising aplatform configured to receive one or more objects, wherein the portaloperatively provides access to a space defined under an upper floor; arobotic retrieval system comprising a robot, wherein the robot includesan arm for grasping the one or more objects, and wherein the robot isconfigured to: retrieve the one or more objects from one or morelocations within the space; deposit the one or more objects in the oneor more locations within the space; in response to user input requestingstorage of a target object from the one or more objects, determine atarget location in which to deposit the target object; and store thetarget location and an identifier that identifies the target object inmemory.
 2. The system of claim 1, wherein the robotic retrieval systemfurther comprises a track disposed under the upper floor, wherein therobot operatively transverses the track to retrieve or deposit the oneor more objects.
 3. The system of claim 1, wherein the robot includes atleast one rotating member or appendage, and wherein the at least onerotating member or appendage are operatively configured to allow therobot to travel on a lower floor generally parallel to the upper floor.4. The system of claim 1, wherein the robot includes at least one imagecapturing device that operatively determines an identification of theone or more objects based on at least one of an image of the one or moreobjects or an identification token located on the one or more objects.5. The system of claim 1, wherein the robotic retrieval systemdetermines whether to retrieve an object from the one or more objects inresponse to a user request.
 6. The system of claim 1, wherein therobotic retrieval system determines whether to retrieve an object fromthe one or more objects in response to a triggering event.
 7. The systemof claim 1, wherein the robotic retrieval system determines the targetlocation in which to deposit the target object based at least in part ondimensions of the target object and dimensions of the target location.8. The system of claim 7, wherein the robotic retrieval system furtherdetermines the target location in which to deposit the target objectbased further in part on dimensions of one or more pathways formedwithin the space.
 9. The system of claim 1, wherein the roboticretrieval system determines the target location in which to deposit thetarget object based at least in part on a frequency of retrieval andstorage of the target object and proximity of the target location to theportal.
 10. The system of claim 1, wherein the robotic retrieval systemfurther includes at least one display device that generatesnotifications identifying the one or more objects stored within thespace.
 11. The system of claim 1, wherein the robotic retrieval systemfurther includes a charging station, and wherein the robot includes arechargeable battery that is operatively recharged by the chargingstation.
 12. A method comprising: receiving an object at a portal forstorage under an upper floor; determining a target location in a spacedefined below the upper floor in which to store the object; grasping, bya robotic retrieval system, the object from the portal; and deliveringthe object to the target location in the space.
 13. The method of claim12, further comprising receiving user input requesting retrieval of theobject; and in response to the user input, retrieving the object fromthe target location.
 14. The method of claim 12, further comprising:detecting a triggering event; and in response to detecting thetriggering event, retrieving the object from the target location. 15.The method of claim 14, wherein the triggering event comprises at leastone of a weather parameter meeting a criteria, an event, a holiday, oran alarm.
 16. The method of claim 12, further comprising: calculating aprobability of that a user will request retrieval of the object based ona weighted model of a history associated with the user; and in responseto the probability meeting a threshold probability, retrieving theobject from the target location.
 17. A system for under-floor storage,comprising: a portal comprising a platform configured to receive one ormore objects, and wherein the platform operatively translates about anaxis to raise at or above an upper floor or lower below the upper floor;a robotic retrieval system comprising a track disposed beneath the upperfloor, and a robot operatively connected to the track and configured totraverse the track to retrieve or deposit one or more objects within aspace below the upper floor, and wherein the robot includes an arm forgrasping and releasing the one or more objects in desired locations. 18.The system of claim 17, wherein the portal is operatively formed withina portion of the upper floor such that the portion of the upper floor ismovable to allow the portal to translate about the axis.
 19. The systemof claim 17, wherein the portal is operatively formed within furniture.20. The system of claim 19, wherein the portal is operatively formedwithin a closet of a structure.